Panasonic MINAS A5-series Operating Instructions Manual page 220

1. Details of parameter
[Class 6] Special setting
Title
Pr6.08
Range
• Set up the dynamic friction compensation value to be added to the torque command when
forward positional command is fed.
• Update this parameter when the friction compensation mode for real time auto-tuning is valid.
Title
Pr6.09
Range
• Set up the dynamic friction compensation value to be added to the torque command when
negative direction positional command is fed.
• Update this parameter when the friction compensation mode for real time auto-tuning is valid.
Title
Pr6.10
Range
Set up the function in unit of bit.
bit 0
bit 1
bit 2
bit 3
bit 4
bit 5
* bit 0 = LSB
Title
Pr6.11
Range
Fine tune the current response with respect to default setup (100%).
Title
Pr6.13
Range
Set 1st inertia ratio.
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
Pr6.13 = (load inertia/ rotor inertia) × 100 [%]
Caution
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When
the inertia ratio of Pr0.04 is larger than the actual, the setup unit of the velocity loop gain
becomes larger, and when the inertia ratio of Pr0.04 is smaller than the actual, the setup unit
of the velocity loop gain becomes smaller.
4-52
Positive direction torque compensation value
−100 to 100
Negative direction torque compensation value
−100 to 100
Function expansion setup
0 to 63
Function
Speed observer
Disturbance observer
Disturbance observer operation setup
Inertia ratio switching
Current response improvement
Analog torque FF
Current response setup
50 to 100
2nd Inertia ratio
0 to 10000
Related
control mode
%
Unit Default
Related
control mode
%
Unit Default
Related
control mode
—
Unit Default
Setup value
0
Invalid
Invalid
Valid only when 1st gain
Always valid
Invalid
Invalid
Invalid
Related
control mode
%
Unit Default
Related
control mode
%
Unit Default
P S T F
0
P S T F
0
P S T F
0
1
Valid
Valid
is selected.
Valid
Valid
Valid
P S T F
100
P S T F
250